CAN-PCI/405-B4 Hardware
Contents
1. Page 2 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME Document file 1 Texte Doku MANUALS CAN PCI405 B4 Englisch CAN PCI405 B4_11H en9 Date of print 2008 10 27 Described PCB version PCIB4 Rev 1 1 Changes in the Chapters The changes in the user s manual listed below affect changes in the hardware as well as changes in the description of the facts only Chapter Changes with respect to previous revision First released version Further technical changes are subject to change without notice CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 3 of 27 This page is intentionally left blank Page 4 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME Contents 1 Oyerview ae ee BEA RO reset ie ke 7 1 1 Desenpuomorthe Module recse perenta d er ee en 7 2 Hardware Installation 2 2 2 2 ia a RA ER 9 2 1 Proeedure a train ehe nern Denen 9 3 PCB View and LED Description o oooooccoooooooco eens 11 Sil PEB View zu en Sas A Sa Went cet ee Ne 11 3 2 LEDs and DSUB37 Connector in the Slot Bracket o o o oooooooooooooo o 12 4 Summary of Technical Data o ooooocrornoorooroororonoon oo ooo 13 4 1 Deneral Technical Data sand ana AA Dean Oe 13 4 2 Microprocessor and Memory ee DD ews 14 A een Anm a er Bp eu odds Vee hes 8 14 FA CAN Interface sinus ars anne irn 15 AS SOHWATE SUPPOR Ze2. CAN PCI 405 B4 PCI CAN Interface Hardware Installation and Technical Data to Product C 2041 04 CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 1 of 27 esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany www esd electronics com Fax 0511 37 29 8 68 Phone 0511 37 29 80 International 49 5 11 37 29 80 NOTE The information in this document has been carefully checked and is believed to be entirely reliable esd makes no warranty of any kind with regard to the material in this document and assumes no responsibility for any errors that may appear in this document esd reserves the right to make changes without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E mail info esd electronics com Internet www esd electronics com USA Canada esd electronics Inc 525 Bernardston Road Suite 1 Greenfield MA 01301 USA Phone 1 800 732 8006 Fax 1 800 732 8093 E mail us sales esd electronics com Internet www esd electronics us
3. J4 CAN4 J3 CAN3 J2 CAN2 J1 CAN1 CAN channel CAN 3 CAN 2 CAN 1 CAN 0 Connector side B DSUB9 male DSUB9 male DSUB9 male DSUB9 male Pin no of the DSUB9 plug Signal male 3 CAN_GND3 7 CAN3_H 2 CAN3_L 3 CAN_GND2 CAN2_H 2 CAN2_L 3 CAN_GND1 CANI_H 2 CANI_L 3 CAN_GNDO CANO_H 2 CANO_L CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Table 7 Assignments of the cable connectors of CAN PCI 405 B4 1C4 Page 19 of 27 Connector Pin Assignment The signals of a CAN channel are conducted to one of the four 9 pole DSUB plugs male of the CAN PCI 405 B4 1C4 adapter cable CAN_L CAN_H CAN_GND reserved Page 20 of 27 Pin Position 2 N 1 2 3 4 5 eooee e 0 6 7 8 9 Pin Assignment Signal Pin Signal 1 reserved reserved 6 2 CAN_L CAN_H 7 3 CAN_GND resered 8 4 reserved reserved 9 5 reserved 9 pole DSUB plug Signal description CAN signal lines reference potential of the local CAN Physical Layer reserved for future applications Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME Wiring ny 6 Correctly Wiring Electrically Isolated CAN Networks Generally all instructions applying for wiring regarding an electromagnetic compatible installation wiring cross sections of wires material
4. female or male CAN_GND female or male pin designation at wire shield pin designation CAN_H CAN_L E o o a 120 Ohm CAN_GND earth PE tt tt n c not connected E Figure Structure and connection of wire CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 21 of 27 u Wiring Tu Cabling O for devices which have only one CAN connector per net use T connector and dead end feeder shorter than 0 3 m available as accessory Connecting CAN_GND to CAN_H E A Female Connector CAN Board Frote UVS Conc EE CANL H u Male Connector Terminator eg FOAN Male Terminator USB t C CAN_GND VME CAN2 eo peer FREIE E Order no C 1302 01 T Connect Ordem CIL E Female Terminator Order no C 1301 01 T Connector T Connector T Connector C 1311 03 C 1311 03 C 1311 03 od CAN Cable A CAN DP Order no C 1323 03 i i E a CAN Cable i lt 0 3m CAN Cable Order no C 1323 03 y Order no C 1323 03 Figure Example for correct wiring when using single shielded wires Terminal Resistance O use external terminator because this can later be found again more easily O 9 pin DSUB terminator with male and female contacts and earth terminal are available as accessories Earthing O CAN_GND has to be conducted in the CAN wire because the
5. n c 34 16 n c CAN_GNDO 35 17 CAN_GNDO CANO_H 36 18 CANO_H CANO CANO_L 37 19 CANO_L 37 pole DSUB connector male Signal description CANx_L CANx_H CAN signal lines of the CAN interface x x 0 3 CAN_GNDx reference potential of the local CAN physical layer x 0 3 D C sis not connected CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 17 of 27 Connector Pin Assignment 5 1 1 Adapter Cable CAN PCI 405 B4 1C4 The adapter cable CAN PCI 405 B4 1C4 is designed for the connection to the 37 pole DSUB panel connector male of the CAN PCI 405 B4 The signals of the four CAN interfaces are conducted to four DSUB9 plugs male Length over all 500 mm Channel 0 DSUB9 male Label Channel 1 DSUB9 male Label Channel 2 DSUB9 male Channel 3 heat shrink tube DSUB9 male DSUB37 female socket Figure 4 Adapter cable CAN PCI 405 B4 1C4 Page 18 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME Connector Pin Assignment Assignments of the cable connectors of CAN PCV405 B4 1C4 Connector side A DSUB37 female Pin no of DSUB 37 socket female 1 OO oO ALN MM HB WwW dw oO ER N W A Nn nN SI na 00 pr No N 37 Label of the cable
6. 37 pole DSUB panel connector male in the slot bracket Four CAN channels can be connected via the DSUB connector As accessory the cable CAN PCI 405 B4 1C4 see order information is available 10 Reconnect the power supply of the PC 11 Switch on the PC the peripheral devices and the other CAN participants in any order 12 End of hardware installation The software installation is described in the manual CAN API Part 2 Installation Page 10 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME LEDs and Connectors a 3 PCB View and LED Description 3 1 PCB View ERRE Figure 2 CAN PCI 405 B4 card view CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 11 of 27 LEDs and Connector 3 2 LEDs and DSUB37 Connector in the Slot Bracket Four CAN nets can be connected to the CAN PCI 405 B4 card via the 37 pole DSUB panel connector in the slot bracket LED A CAN1 CAN3 traffic LED B CANO CAN2 traffic LED C Driver status PCI traffic LED D Local CPU RUN Figure 3 Meaning of the LEDs and connector position LED Name Indication of the Led LED on A a CAN frames are being received or transmitted on CAN1 and or CAN3 B an CAN frames are being received or transmitted on CANO and or CAN2 Driver status LED off No driver loaded C P or a da LED on Driver loaded oe LED flickering Communication with CAN board Local CPU is
7. RE Mrs 15 4 6 Order Information 344 9 4 4 4 0 36 eee dedo dad de 16 5 Connector Pin Assignment 0 00 eee n teen n en nee 17 dl CAN Interfaces 00 ii einsehen As E ia 17 5 1 1 Adapter Cable CAN PCI 405 B4 1C4 oooooooococoncococo nenn 18 6 Correctly Wiring Electrically Isolated CAN Networks o ooooooooooo 21 7 CAN Bus Troubleshooting Guide 0 0 00 25 41 Termination urn reis Lie A ROAA ne Ladd wis eh ew ned 25 Fee CAN H CAN L Voltage e ea ee nee ea ee 26 TA Ground aisg e whet a a eis wa a We acts aga alae ee 26 7 4 CAN Transceiver Resistance Test 2 ii a0 ha a aaa 27 CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 5 of 27 This page is intentionally left blank Page 6 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME Overview O 1 Overview 1 1 Description of the Module CANS lt CAN1 CAN2 CANO Electrical Isolation__________ FBGA zer Ei Physical CAN Controller N Control Logic EPROM ear SJA1000 CANO CAN Layer SDRAM DSUB37 AMCC PPC405 PCI Card Edge Connector Figure 1 Block circuit diagram of the CAN PCI 405 B4 module The CAN PCI 405 B4 is a PC board designed for the PCI bus It supports four independent CAN interfaces The four CAN interfaces can be connected via the 37 pole DSUB p
8. and 1 Disconnect the node from the network Leave the node unpowered 4 see figure below 2 Measure the DC resistance between CAN_H and CAN_GND 5 see figure below NEIL 3 Measure the DC resistance between CAN_L and CAN_GND 6 see figure below Normally the resistance should be between 1 M Q and 4 M Q or higher If it is lower than this range the CAN transceiver is probably faulty CAN node CAN Transceiver 4 j Disconnect CAN 4 y Disconnect Power Figure Simplified diagram of a CAN node CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 27 of 27
9. attached terminating resistors To test it please 1 Turn off all power supplies of the attached CAN nodes 2 Measure the DC resistance between CAN_H and CAN _L at the middle and ends of the network 4 see figure above NOTA The measured value should be between 50 Q and 70 Q The measured value should be nearly the same at each point of the network If the value is below 50 Q please make sure that there is no short circuit between CAN_H and CAN_L wiring there are not more than two terminating resistors the nodes do not have faulty transceivers If the value is higher than 70 Q please make sure that there are no open circuits in CAN_H or CAN_L wiring your bus system has two terminating resistors one at each end and that they are 120 Q each CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 25 of 27 a CAN Bus Troubleshooting Guide 7 2 CAN_H CAN_L Voltage Each node contains a CAN transceiver that outputs differential signals When the network communication is idle the CAN_H and CAN_L voltages are approximately 2 5 volts Faulty transceivers can cause the idle voltages to vary and disrupt network communication To test for faulty transceivers please 1 Turn on all supplies 2 Stop all network communication i 3 Measure the DC voltage between CAN_H and GND 9 see figure above 4 Measure the DC voltage between CAN_L and GND 3 see figure above Normally the voltage sho
10. card edge connector Table 4 PCI bus data Page 14 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME Technical Data 4 4 CAN Interface Number 4x CAN via DSUB37 panel connector CAN controller SJA1000 ISO 11898 1 CAN 2 0 Physical L Physical Layer according to ISO 11898 2 transmission rate is E programmable from 10 Kbit s up to 1 Mbit s Termination has to be done externally The CAN interfaces are electrically isolated against each other Electrical isolation and against the PCI bus potentials by optocouplers and DC DC converters Table 5 Data of the CAN interface 4 5 Software Support Software drivers are available for Windows Linux and real time operating systems The software installation and the software drivers are described in the manual CAN API Part 1 Function Description und CAN API Part 2 Installation Guide esd order No C 2001 21 A software package for CANopen support is available for Windows CAN PCV405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 15 of 27 Technical Data JA 4 6 Order Information Type Description Order no Hardware PPC405 200 MHz 32 MB SDRAM 2 MB Flash CARTER TAUBA 4x CAN via DSUB37 male 1 Slot ne Accessories Cable DSUB37 female to 4x DSUB9 male CAN PCI 405 B4 1C4 to CAN PCI 405 B4 C 2041 18 PCI Ho
11. in RUN status D Local CPU RUN LED lights at every access to the SDRAM therefore the LED can be blinking or permanently on in normal operation Page 12 of 27 Table 1 Name and indication of the LEDs Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCT 405 B4 ME Technical Data JA 4 Summary of Technical Data 4 1 General Technical Data Ambient temperature 0 50 C Humidity max 90 non condensing supplied by PCI bus nominal voltage 5 V 35 3 3 V 5 Supply voltage typical current consumption for 4x CAN max at 20 C 650 mA via 3 3 V connection and 250 mA via 5 V connection Plug and socket X100 Card Edge PCI bus connectors X1300 DSUB37 panel connector male CAN Net 0 3 5 167 64 mm x 106 68 mm without slot bracket and without CAN Dimensions connector Weight approx 130 g Table 2 General data of CAN PCI 405 B4 CAN PCV405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 13 of 27 Technical Data i 4 2 Microprocessor and Memory CPU PowerPC 405GP 200 MHz 32 bit Flash EPROM 2 MB Flash EPROM SDRAM 32 MB SDRAM Table 3 Micro processor and memory 4 3 PCI Bus Host Bus PCI bus according to PCI Local Bus Specification 2 2 PCI data bus 32 bit Controller PPC405GP Interrupt interrupt signal A Slot position no restrictions for the slot position Board dimension PCI short card Connector PCI
12. individual esd modules are electrically isolated from each other O CAN_GND has to be connected to the earth potential PE at exactly one point in the net O each CAN user without electrically isolated interface works as an earthing therefore do not connect more than one user without potential separation O Earthing CAN e g be made at a connector Page 22 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME Wiring ny ir Wire Length O Optical couplers are delaying the CAN signals By using fast optical couplers and testing each board at 1 Mbit s esd modules typically reach a wire length of 37 m at 1 Mbit s within a closed net without impedance disturbances like e g longer dead end feeders Bra Typical values of reachable CiA recommendations Kbit s wire length with esd 07 95 for reachable wire interface la m lengths Lain m 1000 37 25 800 59 50 666 6 80 500 130 100 333 3 180 250 270 250 166 420 125 570 500 100 710 650 66 6 1000 50 1400 1000 33 3 2000 20 3600 2500 12 5 5400 10 7300 5000 CAN PCV405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Table Reachable wire lengths depending on the bit rate when using esd CAN interfaces Page 23 of 27 u Wiring Examples for CAN Wires Manufacturer U I LAPP GmbH Schulze Delitzsch Stra e 25 70565 Stuttgart Germany www lappkabel de e g UNITRONIC BUS CAN U
13. to be used minimum distances lightning protection etc have to be followed The following general rules for the CAN wiring must be followed A CAN net must not branch exception short dead end feeders and has to be terminated 1 by the wave impedance of the wire generally 120 W 10 at both ends between the signals CAN_L and CAN_H and not at GND A CAN data wire requires two twisted wires and a wire to conduct the reference potential 2 CAN_GND For this the shield of the wire should be used The reference potential CAN_GND has to be connected to the earth potential PE at one point Exactly one connection to earth has to be established 4 The bit rate has to be adapted to the wire length 5 Dead end feeders have to kept as short as possible I lt 0 3 m When using double shielded wires the external shield has to be connected to the earth ss potential PE at one point There must be not more than one connection to earth 7 A suitable type of wire wave impedance ca 120 Q 10 has to be used and the voltage loss in the wire has to be considered 8 CAN wires should not be laid directly next to disturbing sources If this cannot be avoided double shielded wires are preferable Wire structure Signal assignment of wire and connection of earthing and terminator pac E au QAN Wire With ConnectorS cc Shielded wire with f DSUB9 connector SUBO cornestor N transposed wires E
14. L CSA UNITRONIC BUS FD P CAN UL CSA Type of wire UL CSA approved UL CSA approved ConCab GmbH u erer Eichwald 74535 Mainhardt Germany www concab de e g BUS PVC C 1 x 2 x 0 22 mm BUS Schleppflex PUR C 1 x 2 x 0 25 mm Order No 94 025 016 UL appr Order No 93 022 016 UL appr SAB Br ckskes GmbH amp Co KG Grefrather Stra e 204 212b 41749 Viersen Germany www sab brockskes de e g CB 627 1 x 2 x 0 25 mm SABIX CB 620 1 x 2 x 0 25 mm Order No 56202251 Order No 06272251 UL appr Note Completely configured CAN wires can be ordered from esd Page 24 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME CAN Bus Troubleshooting Guide ny 7 CAN Bus Troubleshooting Guide The CAN Bus Troubleshooting Guide is a guide to find and eliminate the most frequent hardware error causes in the wiring of CAN networks Figure Simplified diagram of a CAN network 7 1 Termination The termination is used to match impedance of a node to the impedance of the transmission line being used When impedance is mismatched the transmitted signal is not completely absorbed by the load and a portion is reflected back into the transmission line If the source transmission line and load impedance are equal these reflections are eliminated This test measures the series resistance of the CAN data pair conductors and the
15. anel connector in the slot bracket The CAN PCI 405 B4 provides four ISO 11898 compliant CAN interfaces based on SJA1000 CAN controllers The CAN interfaces allow a data transfer rate of 1 Mbit s The baud rate can be set by per software The interfaces are electrically isolated from the other potentials The CAN PCI 405 B4 produces hardware generated timestamps with a resolution of 1 us for all CAN messages A PowerPC 405GP cares for the local data management of the CAN PCI 405 B4 The CAN data are bufferd in a local SDRAM Security and consistency of data is guaranteed up to 1 Mbit s CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 7 of 27 Overview This page is intentionally left blank Page 8 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME Installation P 2 Hardware Installation 2 1 Procedure Attention Electrostatic discharge may cause damage to electronic devices In order to avoid this please follow the instructions below before you touch the CAN module to discharge your personal static electricity Switch off the power supply of your PC but leave the connector plug in the socket Then touch the metal case of the PC to discharge the static electricity Furthermore you must avoid contact between your clothes and the CAN module Execute Hardware Installation 1 Switch off the PC and all connected peripheral devices mon
16. itor printer etc Switch off the CAN devices of the net to which the CAN module is to be connected Discharge yourself as described above Disconnect the power supply of the PC from the mains Remove the PC cover Unfasten the mounting screws at the back of the PC and remove the cover Select an open PCI slot and remove the slot cover at the back of the PC Unfasten the screw which fixes the slot cover and retain it for fixing the module afterwards The CAN module can be inserted into every PCI slot Be careful not to insert the board into an ISA slot because this might damage the PC and the board Insert the CAN module into the selected PCI slot Carefully push the board down until it snaps into place Attach the board Use the screw you removed from the slot cover in step 5 Replace the PC cover Secure the cover with the according screws at the back of the PC CAN PCI 405 B4 ME Hardware Manual Doc No C 2041 21 Rev 1 1 Page 9 of 27 P Installation 9 Connect the CAN wire Please note that the CAN bus has to be terminated at both ends esd offers special T connectors and terminator connectors Additionally the CAN_GND signal has to be connected to earth at exactly one point For easier wiring the termination connectors are equipped with an earth connector 4 8 mm fast on male A CAN participant without an electrically isolated interface acts as an earth connection The CAN PCI 405 B4 is equipped with a
17. st Software drivers incl local firmware on CAN PCI 405 B4 Layer 2 driver software CONTRAVENE Object Licence for Windows and Linux incl CD ROM NER CANopen Ce Nope ne Object Licence for Windows and Linux Se Dokumentation CAN PCI 405 B4 MD User manual in German C 2041 20 CAN PCI 405 B4 ME User manual in English C 2041 21 CAN API ME Software manual for the host software driver in English C 2001 21 Engineering manual in Englisch CAN PCI 405 B4 ENG Contents Schematic diagrams PCB top overlay C 2041 25 drawings data sheets of significant components 19 2 Page 16 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 If module and manual are ordered together the manual is free of charge This manual is liable for costs please contact our support Table 6 Order information CAN PCI 405 B4 ME Connector Pin Assignment 5 Connector Pin Assignment 5 1 CAN Interfaces All four CAN interfaces are attached via a 37 pole DSUB panel connector male Pin Position Pin Assignment Signal Pin Signal Channel 1 n c n c 20 2 n c n c 21 3 n c n c 22 4 n c CAN_GND3 23 5 CAN_GND3 CAN3_H 24 6 CAN3_H CAN3 CAN3_L 25 7 CAN3_L n c 26 8 n c CAN_GND2 27 9 CAN_GND2 CAN2_H 28 10 CAN2_H CAN2 CAN2 L 29 11 CAN2 L n c 30 12 n c CAN_GND1 31 13 CAN_GND1 CAN1_H 32 14 CAN1_H CANI CANIL 33 15 CANIL
18. uld be between 2 0 V and 4 0 V If it is lower than 2 0 V or higher than 4 0 V it is possible that one or more nodes have faulty transceivers For a voltage lower than 2 0 V please check CAN_H and CAN_L conductors for continuity For a voltage higher than 4 0 V please check for excessive voltage To find the node with a faulty transceiver please test the CAN transceiver resistance see next page 7 3 Ground The shield of the CAN network has to be grounded at only one location This test will indicate if the shielding is grounded in several places To test it please 1 Disconnect the shield wire Shield from the ground 2 Measure the DC resistance between Shield and ground see picture on the right hand CAN_GND 3 Connect Shield wire to ground Fig Simplified schematic diagram of ground test measurement The resistance should be higher than 1 M Q If it is lower please search for additional grounding of the shield wires Page 26 of 27 Hardware Manual Doc No C 2041 21 Rev 1 1 CAN PCI 405 B4 ME CAN Bus Troubleshooting Guide ny 7 4 CAN Transceiver Resistance Test CAN transceivers have one circuit that controls CAN_H and another circuit that controls CAN_L Experience has shown that electrical damage to one or both of the circuits may increase the leakage current in these circuits To measure the current leakage through the CAN circuits please use an resistance measuring device
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